The Saphira architecture: a design for autonomy

@article{Konolige1997TheSA,
  title={The Saphira architecture: a design for autonomy},
  author={Kurt Konolige and Karen L. Myers and Enrique H. Ruspini and Alessandro Saffiotti},
  journal={J. Exp. Theor. Artif. Intell.},
  year={1997},
  volume={9},
  pages={215-235}
}
Mobile robots, if they are to perform useful tasks and become accepted in open environments, must be fully autonomous. Autonomy has many different aspects ; here the focus is on three central ones: the ability to attend to another agent, to take advice about the environment, and to carry out assigned tasks. All three involve complex sensing and planning operations on the part of the robot, including the use of visual tracking of humans, coordination of motor controls, and planning. It is shown… CONTINUE READING

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